Classifications

• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B1/00002—Operational features of endoscopes
  • A61B1/00025—Operational features of endoscopes characterised by power management
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B1/00112—Connection or coupling means
  • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
  • A61B1/00124—Connectors, fasteners and adapters, e.g. on the endoscope handle electrical, e.g. electrical plug-and-socket connection
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B1/00112—Connection or coupling means
  • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
  • A61B1/00128—Connectors, fasteners and adapters, e.g. on the endoscope handle mechanical, e.g. for tubes or pipes
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/30—Surgical robots
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
  • A61B90/50—Supports for surgical instruments, e.g. articulated arms
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J18/00—Arms
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/16—Programme controls
  • B25J9/1679—Programme controls characterised by the tasks executed
  • B25J9/1689—Teleoperation
• • H—ELECTRICITY
  • H01—ELECTRIC ELEMENTS
  • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
  • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
  • H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
• • H—ELECTRICITY
  • H01—ELECTRIC ELEMENTS
  • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
  • H01R33/00—Coupling devices specially adapted for supporting apparatus and having one part acting as a holder providing support and electrical connection via a counterpart which is structurally associated with the apparatus, e.g. lamp holders; Separate parts thereof
  • H01R33/74—Devices having four or more poles, e.g. holders for compact fluorescent lamps
  • H01R33/76—Holders with sockets, clips, or analogous contacts adapted for axially-sliding engagement with parallely-arranged pins, blades, or analogous contacts on counterpart, e.g. electronic tube socket
  • H01R33/765—Holders with sockets, clips, or analogous contacts adapted for axially-sliding engagement with parallely-arranged pins, blades, or analogous contacts on counterpart, e.g. electronic tube socket the terminal pins having a non-circular disposition
• • H—ELECTRICITY
  • H01—ELECTRIC ELEMENTS
  • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
  • H01R33/00—Coupling devices specially adapted for supporting apparatus and having one part acting as a holder providing support and electrical connection via a counterpart which is structurally associated with the apparatus, e.g. lamp holders; Separate parts thereof
  • H01R33/97—Holders with separate means to prevent loosening of the coupling or unauthorised removal of apparatus held
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
  • A61B2017/00477—Coupling
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/30—Surgical robots
  • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• • H—ELECTRICITY
  • H01—ELECTRIC ELEMENTS
  • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
  • H01R2201/00—Connectors or connections adapted for particular applications
  • H01R2201/12—Connectors or connections adapted for particular applications for medicine and surgery

Definitions

• the invention relates to a medical mechatronic male interface device for coupling a surgical assistance system to a support structure, having a base which has an end face, wherein a functional body extends from the end face.
• the invention further relates to a corresponding medical female interface device for coupling to the male interface device.
• the invention also relates to a medical support arm for holding a surgical assist system having a proximal end for securing the support arm to a base and a distal end for receiving the surgical assist system, two or more arm segments, and two or more hinges by which the arm segments articulate connected to each other; a first interface at the proximal end for connecting the support arm to a power source and an external control unit for transferring signals to and from the support arm; a second interface at the distal end for coupling the support arm to an assistance system for controlling the assistance system; and a transmitter disposed within the support arm and connecting the first interface to the second interface for transferring power and signals between the interfaces.
• the invention relates to a surgical assistance system with a medical female interface device and a system with a holding arm of the aforementioned type and one or more surgical assistance systems of the aforementioned type.
• Retaining arms of the type mentioned are already known for a long time and are used in surgery in particular to relieve an operator of static holding work.
• Such a support arm is used to hold a surgical assistance system, such as a manipulator, an endoscope, a clamp, and the like.
• a surgical assistance system such as a manipulator, an endoscope, a clamp, and the like.
• the above-mentioned retaining arms have proven.
• an operator typically operates an instrument with both hands, while an assistant holds the endoscope to visualize the surgical field via a screen. Holding the endoscope for an extended period of time is very tedious. For this reason, more support arms are used.
• Such a support arm is known for example from DE 195 26 915 B4.
• the disclosed medical device includes a connector and a surgical tool holder and an arm disposed between the holder and the connector.
• the arm is connected to the holder and the connecting part or to an adjacent arm via a joint and coupled to a pneumatically actuated device for selectively fixing and releasing the joints, this device fixing the joints under the action of a mechanical force exerting a braking force on the joint and wherein the device is pneumatically transferable against the force of this spring in a state releasing the joint.
• an actuator is arranged, by means of which a valve is apparent, so that the individual joints of the arm can be adjusted. When you release the actuator, the valve is closed again, so that the joints are fixed.
• a similar support arm is disclosed in EP 1 958 587 B1.
• the holding arm disclosed there likewise has a plurality of joints, and a contact-sensitive sensor is provided for actuating the joints.
• This sensor is located on the support arm adjacent to the medical instrument so that upon grasping the medical instrument, the operator comes into contact with the touch-sensitive sensor, thereby releasing the joints of the support arm.
• Both of the above-mentioned holding arms are so-called passive holding arms, which have only braked joints, but no active drives in the joints.
• the joints are releasable due to the operation of the control device and locked when you release this again.
• Another such arm is disclosed in DE 10 201 1 004 926 A1.
• the holding arm has a plurality of arm segments and a plurality of joints, by means of which the individual arm segments are coupled together.
• the holding arm according to DE 10 2011 004 926 A1 also has a first interface at the proximal end in order to couple the holding arm to a standard rail of an operating table.
• the first interface is essentially designed in accordance with a clamp.
• the support arm has an interface at the distal end, which is also designed as a clamp and serves to receive an endoscope.
• this arm is generally well suited for the mere holding of endoscopes, there is still a need to make the field of use of such support arms more flexible, in particular to adapt to different tasks. Further, it is desirable to improve the safety of such retaining arms such that a risk of injury to a patient during surgery using the retaining arm is reduced.
• a holding arm with the features of the preamble of claim 1 is further known from DE 10 2014 016 823 of the present applicant.
• Object of the present invention is to provide both a medical mechatronic male interface device, including a medical female interface device of the type mentioned, by a surgical assistance system can be connected in a simple manner and continue to increase the potential applications.
• the invention solves the problem with a medical mechatronic male interface device in that it comprises first mechanical coupling means for positive and / or non-positive coupling with a corresponding medical mechatronic female interface device and at least one first electronic interface for connection to a corresponding second electronic interface of the female interface device wherein the functional body has a centering device for centering the surgical assistant without play tenzsystems relative to the base, wherein the centering device comprises a first functional surface, a second functional surface and a third functional surface, which are not parallel to each other and whose normal are not in a common plane.
• the invention makes use of the fact that an interface device not only has to have mechanical coupling means for positive and / or non-positive coupling in order to make a connection, but in particular that a centering device is preferred so that the corresponding medical mechatronic female interface device is centered coupled to the male interface device can be. By centering it is possible to compensate for slight manufacturing inaccuracies and to produce a backlash-free coupling.
• the corresponding female interface device preferably has corresponding functional surfaces, or other coupling elements, which come into contact with the first, second, third functional surfaces of the male interface device.
• the support structure may, in the context of the invention, be any support structure that may have a need to attach a surgical assistance system, such as a tripod, a ceiling stand, an operating table, a room wall, a support arm, a robot, and the like.
• a surgical assistance system such as a tripod, a ceiling stand, an operating table, a room wall, a support arm, a robot, and the like.
• the male interface device has an electronic interface
• embodiments without the electronic interface are also preferred.
• the male interface device is purely mechanical.
• the first second and third functional surfaces jointly define, at least in common, at least partially, a three-sided pyramid.
• the functional body is also mirror-symmetrical.
• the functional body is preferably mirror-symmetrical in itself. It is preferred in one embodiment that the pyramid is mirror-symmetrical.
• the plane of symmetry preferably comprises the central axis of the pyramidal structure or the central axis of the functional body and is preferably perpendicular to the base. As a result, the construction can be further simplified and it is possible to use identical parts.
• the functional surfaces are flat. In this sense, it suffices if the functional surfaces are substantially flat, and a slight crown or concavity is accepted. So it may be conceivable, for example, that for reasons of a tension of the male and female interface means to each other a slightly regular or irregularly curved surface is preferred. However, it is possible to simplify the manufacture by the provision of planar functional surfaces, and also a static certainty in a coupling with a corresponding female interface device can be better achieved in this way.
• the functional surfaces each have an angle of 60 ° to each other.
• a symmetry of the functional surfaces is achieved.
• two functional surfaces are formed identical to one another, but mirror-symmetrical, while the third functional surface is substantially perpendicular to the plane of symmetry.
• two functional surfaces include a smaller angle than 60 ° to each other, for example 45 °, and these two functional surfaces then each with the third functional surface a larger angle, namely preferably 67.5 °.
• the functional surfaces are each inclined at least 20 ° to a central axis of the functional body. That is, to the central axis of the pyramidal structure, the functional surfaces are inclined by at least 20 °.
• a smaller inclination ie an inclination close to 20 ° and preferably smaller than 30 °, can lead to a better positioning perpendicular to the central axis.
• larger angles of inclination can lead to better positioning in the axial direction.
• the functional body has an axial end face.
• the pyramid or pyramidal structure resembles a truncated pyramid and does not open in an axial tip.
• An axial tip is not required to create a coupling between the male interface device and the female interface device.
• the pyramid or pyramidal structure is shortened to a stump and the functional body has an axial end face.
• the axial end face is preferably parallel to the end face of the base and / or perpendicular to the central axis of the pyramid. In other embodiments, it is conceivable that the end face of the functional body is arranged inclined to the central axis.
• the first mechanical coupling means have at least one first undercut on the functional body.
• the undercut is preferably formed by a recess on the functional body and defines a tangible portion behind.
• a second undercut is formed on the functional body, which is particularly preferably designed mirror-symmetrically to the first undercut.
• first and second undercuts are radially accessible, so that a corresponding locking member of second mechanical coupling means can engage in this undercut.
• the first mechanical coupling means have a third undercut on the functional body. With a total of three undercuts a particularly firm backup of the male and female interface device can be achieved together. It should be understood that there may also be embodiments in which the first mechanical coupling means have only the third undercut, but not the first and second undercuts.
• the third undercut is formed substantially opposite to the first and / or second undercut, so that a corresponding projection in a direction opposite to the first and / or second undercut direction can engage in the third undercut. If, for example, projections for the first and second undercuts engage in them from above or at an angle, a projection provided for the third undercut is used. jump from below into this one. By opposite directions an unwanted release can be better counteracted.
• the third undercut is arranged substantially centrally between the first and second undercut with respect to a center plane, preferably a plane of symmetry, of the functional body. This allows a more even distribution of forces can be achieved.
• the functional surfaces extend radially and / or circumferentially into a peripheral surface of a main body of the functional body.
• a smooth transition is provided between the functional surfaces and the peripheral surface of the main body of the functional body, which is kink-free.
• a radius in the transition region between the functional surfaces and the peripheral surface is preferably in a range of 1 mm and more, preferably 0.5 mm or more.
• the basic body of the functional body can basically have any shape, but is preferably not rotationally symmetrical. This makes it possible for the base body to be able to form a part of the mechanical coupling means and to counteract this in particular in a rotation of the female interface device with respect to the male interface device.
• the base body is formed substantially cylindrical with a radial nose.
• the base body thus formed preferably extends axially from the base.
• a first axial portion of the functional body is preferably free of functional surfaces; the functional surfaces are preferably provided only in a second axial portion of the body, which is distal from the base.
• the axial length of the second portion is approximately equal to the axial length of the first portion.
• the functional body is integrally formed as a whole, for example, the functional body is milled from a solid material, or produced by urformende process. This avoids that the functional body has joints or the like and the hygiene can be improved.
• these openings or connections are preferably sealed. This is to avoid that liquid can penetrate from outside the functional body in the interior of the functional body.
• the electronic interface is formed on the front side of the base.
• the female interface device is preferably coupled in the axial direction relative to the functional body and also in the axial direction relative to the base with the male interface device.
• the electronic interface is formed on the front side of the base, on the one hand, the functional body is completely available for mechanical coupling and also for transmitting fluids or the like.
• the electronic interface is equipped with a matching coupling direction, such as the functional body. That is, the electronic interface is preferably coupled in the axial direction.
• the electronic interface preferably comprises a plug connection.
• the electronic interface comprises two or more blocks with electronic contacts.
• Each block preferably has a plurality, two or more electronic contacts.
• the blocks may be redundant, that is to say that two or more blocks have the same electronic contacts and can thus be used as redundant blocks.
• the blocks can also be assigned differently in other embodiments. By providing multiple blocks, it is possible to better shield these multiple blocks from each other.
• the electrical contacts in turn are preferably insulated and sealed against liquids.
• the electronic interface has at least two ground contacts which are arranged such that at least one of them first comes into contact with at least one corresponding ground contact of the female interface device when coupled to a corresponding female interface device before further electrical contacts are closed.
• the electronic interface is grounded before the other contacts are closed.
• the interface devices it is possible and conceivable for the interface devices to be coupled and decoupled when the voltage is present, that is to say a so-called "hot plug.” This is realized, for example, in that the grounding further protrude contacts in the axial direction, so as to achieve the timing of coupling the interface devices.
• a medical female interface device for coupling a surgical assistance system to a holding structure
• the interface device is designed for coupling with the male interface device according to one of the above-described preferred embodiments of the medical mechatronic male interface device is, comprising: a frame defining a central recess for receiving the functional body, second mechanical coupling means for positive and / or non-positive coupling with the first mechanical coupling means of the male interface means, the central recess facing a centering device for backlash centering the surgical assistance system the base of the first interface device, wherein the centering device a first functional area, a second funct An area and a third functional surface comprises, which correspond to the first, second and third functional surfaces of the male interface device for surface contacting.
• the male interface device according to the first aspect of the invention and the female interface device according to the second aspect of the invention have the same and similar sub-aspects as set forth in particular in the dependent claims.
• the first, second, third functional surfaces of the female interface device do not necessarily have to be identical to the first, second and third functional surfaces of the male interface device.
• the first, second and third functional surfaces of the female interface device are smaller in their areal extent, or have a different contour.
• the functional surfaces of the female interface device are formed as a whole crowned or convex, for example, are formed by three spherical body see.
• the second mechanical coupling means preferably comprise at least a first movable pin for engaging behind the first undercut of the first mechanical coupling means.
• the second mechanical coupling means also have a second pin.
• the first and / or second pin preferably protrudes substantially radially into the recess which forms the undercut.
• the first and preferably also the second bolt are biased in a locking position.
• the bolt or bolts are preferably movable between a locking position and a release position, wherein they engage in the locking position in the undercut or undercuts of the first mechanical coupling means.
• the bias in the locking position is preferably achieved by means of a spring, for example a coil spring, a torsion spring, or in a pneumatic manner. It is also conceivable to use a magnetic bias in order to bias the bolt or bolts into the locking position.
• the first pin is beveled at the free tip.
• clutch tolerances can be compensated.
• the bevelled tip is preferably used to come into contact with a surface of the undercut and by the chamfer can be achieved on the one hand that clutch tolerances are compensated, but also that the female interface device when moving the bolt in the locked position against the first interface device due to a Wedge effect of the oblique surface of the bolt is pulled.
• the second mechanical coupling means further comprises a third movable pin for engaging behind the third undercut of the first mechanical coupling means. If the first mechanical coupling means have only the third undercut, the second mechanical coupling means preferably have only the third bolt.
• the third pin is biased spring-loaded and is automatically deflected in a connection of the female interface device with the male interface device and snaps into the undercut to counteract a release.
• the third bolt is preferably designed as a locking pin. A release of the third bolt is preferably only possible if first the first and / or second bolts are released.
• an actuating device is preferably provided, by means of which the second mechanical coupling means can be displaced into a release position.
• This actuating device preferably comprises a lever which is mounted pivotably on the frame and has a grip portion which is in contact with the first bolt on the output side, the first bolt being actuated by the actuating portion of the handle portion. animal position in the release division can be brought.
• the actuator is manually operable in this example. It can also be provided that an electronically and / or pneumatically activatable actuating device is provided. This is particularly preferred when the locking device acts magnetically, in particular electromagnetically. Preferably, the operation is activated by pressing a button or a button.
• the third bolt is actuated by means of the actuating device.
• a second actuating device for displacing the third bolt into a release pitch is provided independently of the first bolt.
• the first bolt is coupled to the actuating device via at least one film hinge.
• the bolt is in this embodiment preferably integrally connected to the actuating device, in particular not reversibly detachable and non-destructive releasable.
• a film hinge has the advantage that it works without play and at the same time can form a seal.
• a film hinge in particular in a production of the male and / or female interface devices at least partially made of plastic is preferred.
• the second electronic interface is resiliently mounted. As a result, in turn clutch tolerances can be compensated. However, it should be understood that it is also possible to resiliently store the first electronic interface.
• the male interface device has the first mechanical coupling means and the female interface device has the second mechanical coupling means.
• the male interface device comprises the second mechanical coupling means and the female interface device comprises the first mechanical coupling means.
• the female interface device has at least one undercut, and the male interface device preferably has at least one bolt which can engage in the undercut.
• the object mentioned in a holding arm of the type mentioned above is achieved in that the second interface of the holding arm has a medical mechatronic male interface device according to one of the above-described preferred embodiments of the male interface device according to the first aspect of the invention .
• the support arm comprises the female interface device according to any of the above-described preferred embodiments of the female interface device according to the second aspect of the invention. It has been found that it is particularly advantageous to provide the male interface device on the holding arm. As a result, structural advantages can be achieved and the stability and rigidity can be increased.
• the invention relates to a surgical assistance system with a medical female interface device according to one of the above-described preferred embodiments of the female interface device according to the second aspect of the invention.
• the surgical assistance system has a male interface device.
• the invention relates to a system comprising a holding arm of the type described above and a surgical assistance system of the type described above, which is coupled to a holding arm.
• the surgical assistance system is designed as a robotic manipulator.
• the system comprises two or more surgical assistance systems, of which at least one is robotic and preferably at least one is passive.
• Figure 1 is a perspective view of a support arm with a male
• Figure 2 is a detail view of a holding arm with a male interface device
• Figure 3 is a perspective view of a medical mechatronic male interface device according to the invention
• FIG. 4 shows a frontal view of the interface device according to FIG. 3;
• Figure 5 is a side view of the interface device of Figure 4;
• Figure 6 is a plan view of the interface device of Figure 5;
• FIG. 7 a perspective view of a housing of a surgical assistance system with a female interface device
• Figure 8 is a side view of a surgical assistance system with the female interface device, with the housing omitted;
• Figure 9 is a perspective view of the medical mechatronic female interface device
• Figure 10 is a frontal view of the interface device of Figure 9;
• Figure 1 1 is a side view of the interface device of Figure 10 with actuated actuator
• Figure 12 is a frontal view of the interface device of Figure 1 1;
• FIG. 13 a perspective view of a second exemplary embodiment of a surgical assistance system
• Figure 14 shows a third embodiment of a surgical assistance system in perspective view
• Figure 15 is a rear view of the surgical assistance system of Figure 13;
• Figures 16a-16d show four views of a second embodiment of the male
• Figure 17 is a side view of a surgical assistance system with a female interface device according to a second embodiment.
• FIG. 18 shows the surgical assistance system from FIG. 17 in section A-A.
• FIG. 1 shows a holding arm 1 for medical purposes, in particular for holding a surgical mechatronic assistance system 200 and / or a surgical instrument.
• the holding arm 1 has a proximal end 2 and a distal end 4.
• a first interface 6 and a mechanical interface 7 are formed.
• the interface 7 serves to fix the holding arm 1 to a base, in particular to an operating table.
• the interface 6 serves to transfer energy and to couple the support arm 1 with an external control unit.
• a second interface 8 (see Fig. 2) is provided, via which a passive and a mechatronic (active) assistance system, in particular a manipulator device, can be coupled to the holding arm 1.
• a manipulator device 200 for holding and manipulating an endoscope 201 is arranged here.
• the holding arm 1 according to FIG. 1 has seven arm segments 10, 12, 14, 16, 18, 20, 22 which are each substantially rod-shaped and all have substantially the same length except for the last arm segment 22.
• the zeroth segment 10 is assigned the zeroth joint 11
• the first arm segment 12 is assigned the first joint 13
• the second arm segment 14 is assigned the second joint 15
• the third arm segment 16 is assigned the third joint 17,
• the fourth joint 18 associated with the fourth joint 19
• the fifth arm segment 20 is assigned
• the sixth arm segment 22, the sixth joint 23 is assigned.
• the joints 1 1, 13, 15, 17, 19, 21, 23 each have pivot axes, each adjacent joints have pivot axes which are perpendicular to each other. As a result, a simple positioning of the distal end 4 is achieved in the room.
• the holding arm 1 according to FIG. 1 also has an operating device 28.
• the operating device 28 of the support arm 1 can be brought into a desired pose, wherein the operating device 28 is adapted to contact between an operator and one of the seven arm segments, the associated joint and / or other joints depending on the configuration and parameterization of the control device 28 release.
• the operating device 28 according to this exemplary embodiment has five contact sections 30, 32, 34, 36, 38.
• each contact means 30, 32, 34, 36, 38, 40, 42 has two contact element elements 30a, 30b, 32a, 32b, 34a, 34b, 36a, 36b which are arranged essentially opposite one another.
• the contact means 30, 32, 34, 36, 38, 40, 42 serve to detect a contact of an operator with the corresponding arm segment 10, 12, 14, 16, 18, 20, 22.
• the operator comes into contact with both contact center elements 30a, 30b to 36a, 36b, and only when in contact with both contact center elements 30a, 30b to 36a, 36b of one Contact means 30 to 38 the associated joint is released. That is, when gripping the first arm segment 10 and simultaneously contacting the two contact means elements 32a, 32b, the first joint 1 1 is released by the operating device 28. This makes it possible for the operator to be able to pivot the holding arm 1 or the arm segments 12 to 22 about the axis Ai.
• the joint 1 1 When releasing one of the two or both contact center elements 32a, 32b, the joint 1 1 is locked again, and pivoting about the axis Ai is no longer possible. Even with an unintentional contact only one of the two contact means elements 32a, 32b, for example, with an arm or elbow of the operator, the joint 1 1 is not released, and the support arm 1 remains in the locked state and holds his pose.
• the operating device 28 can for this purpose have a controller or microprocessor which is adapted to detect a contact between contact means elements 30a, 30b to 42a, 42b and to transmit them into electrical signals.
• the contact means 30a, 30b to 36a, 36b are formed according to this embodiment as a touch-sensitive sensors and detect a pressure of a contact between the operator and the corresponding contact means element 30a, 30b to 36a, 36b.
• the contact means elements 30a, 30b to 36a, 36b are designed as capacitive touch-sensitive sensors.
• the support arm are in the simultaneous contacting of two arm segments, according to this example, the arm segments 14 and 18 not released the joints 15 and 19, but all lying between these arm segments 14 and 18 joints, so according to this embodiment, the joints 17 and 19.
• the joint 15 remains locked. This is a particularly intuitive operation of the support arm. Accordingly, for example, in the contact between operator and the Gararmsegmenten 12 and 20, the joints 15, 17, 19 and 21 are released.
• the holding arm 1 has a weight compensation device 50.
• the weight compensation device 50 has according to this embodiment, a gas spring element, which is coupled to the arm segment 14 and the arm segment 12.
• the weight compensation device may also have a cable pull and / or a balanced counterweight.
• the largest moment rests on the joint 15 about its axis of rotation A2. Consequently, it is preferable to support precisely this joint 15 by means of the weight compensation device 50.
• the medical mechatronic male interface device 8 is provided (FIG. 2). This will be explained in detail with reference to FIGS. 3 to 6.
• the central Axis L of the male interface device 8 coaxial with the axis A22 of the last arm segment 22, which forms the distal end 4 of the support arm 1.
• the medical mechatronic male interface device 8 has a base 58, via which the interface device 8 is attached to the last arm segment 22.
• the base 58 has an end face 60 from which extends a functional body 62 whose central axis is the axis L.
• the interface device 8 may also be attached to any other support structure, such as a tripod, a robotic arm, a surgical instrument, an operating table, a ceiling mount, or any other holder or the like.
• the base 58 in this embodiment has an approximately disk-shaped structure and is formed substantially cylindrical in itself. However, the base 58 may also have any other shape and in particular serves to form a connection to the support structure.
• the base 58 has a circumferential contour 59, which corresponds approximately to that of the corresponding mounting portion of the support structure, as here in particular the circumferential structure of the last arm segment 22.
• a smooth transition between the base 58 and the last arm segment 22 created.
• the base 58 it would be preferable for the base 58 to have an oval circumference 59 as well.
• the structure of the functional body 62 can be created independently of the structure of the base 58.
• the functional body 62 extends perpendicularly and axially from the base 58 or the end face 60.
• the functional body 62 has a base body 300.
• the base body 300 is essentially cylindrical along the longitudinal axis L, but has a radially extending nose 302 ,
• the cylindrical portion 304 merges smoothly into the nose 302, which terminates tangentially to the cylindrical portion 304 of the main body 300 with its sides 305, 306 (see also FIG.
• the cylindrical portion 304 extends circumferentially about 180 °, preferably about 200 ° about the longitudinal axis L.
• the functional body 62 also has an end face 310, which in this exemplary embodiment is aligned substantially perpendicular to the longitudinal axis L.
• a first functional surface 31 1, a second functional surface 312 and a third functional surface 313 run obliquely to the longitudinal axis L and obliquely to each other.
• the first, second and third functional surfaces 31 1, 312, 313 are planar in themselves, but each angled to each other and angled to the central axis L.
• the functional surfaces 31 1, 312, 313 each include an angle a relative to a plane perpendicular to the central axis L (cf. Fig.
• the angle a between the first functional surface 31 1 and the third functional surface 313 is plotted), which lies in a range of approximately 60 °.
• the angle a between the other functional surfaces namely the angle between the second functional surface 312 and the third functional surface 313 and the first functional surface 31 1 and the second functional surface 312 is identical to the angle a.
• first, second and third functional surfaces 31 1, 312, 313 are inclined to the central axis L (see Fig. 5).
• the inclination of the third functional surface 313 is marked to the central axis L, which includes an angle ß with this.
• the inclination of the first functional surfaces 31 1 and the second functional surface 312 to the central axis L is preferably identical.
• the third functional surface 313 encloses with the central axis L an angle ß in a range of at least 20 °. In this embodiment, the angle ß in about 30 °.
• the inclination of the first functional surfaces 31 1 and the second functional surface 312 is identical in this embodiment and is also approximately 30 ° with respect to the central axis L.
• the first, second and third functional surfaces 31 1, 312, 313 also pass essentially flat and kink-free on the one hand into the end face 310 and on the other hand into the peripheral surface of the main body 300.
• the first functional surface 31 1 runs on the one hand at a section 314 in the end face 310 and also at a portion 315 in the main body 300.
• the second functional surface 312 extends at a portion 316 in the end face 310 and at a portion 317 in the main body 300.
• the third functional surface 313 runs in a section 318 in the end face 310th at a portion 319 in the peripheral surface of the main body 300.
• Each of the portions 314, 315, 316, 317, 318, 319 has a radius which is at least 0.5 mm, preferably at least 1 mm.
• the male interface device 8 furthermore has mechanical coupling means 320 which according to this embodiment have a first recess 322 and a second recess 324.
• the recesses 322, 324 are introduced approximately perpendicular to the central axis L and partially intersect in the first and second functional surfaces 31 1, 312 a. They also extend through a part of the end face 310, whereby this receives an approximately arrow-shaped contour (see in particular Figs. 3 and 4).
• Each of the recesses 322, 324 is limited to the end face 310 by a shoulder 325, 326, which forms an undercut 327, 328.
• the inwardly directed flank 329, 330 of the undercut 327, 328 is inclined relative to the central axis L and includes an angle ⁇ (see FIG. 5).
• the angle ⁇ is less than 90 °, preferably 80 °, but preferably greater than 45 °.
• the angle ⁇ forms a
• insertion recesses 331, 332, which terminate in the third functional surface 313, are provided on the recesses 322, 324. These will be explained later in more detail.
• the male interface device 8 can be connected to a corresponding support structure.
• the male interface device 8 also has a first electronic interface 340.
• the first electronic interface 340 has four blocks 341, 342, 343, 344, each of which has a plurality of electrical contacts, in each case nine electrical contacts.
• the first, second, third and fourth blocks 341, 342, 343, 344 are formed here as female connectors of the electronic interface 340. They are sealed at their edge opposite the end face 60, but preferably spring-mounted. The plug-in direction and thus the coupling direction of the electronic interface 340 is parallel to the central axis L.
• the male interface device is mirror-symmetrical in its outer structure, to the plane E (see FIG. 4).
• the functional body 62 forms a three-sided truncated pyramid. As a result, a particularly simple centering is achieved.
• the nose 302 of the base body 300 provides an additional anti-rotation and anti-rotation relative to the central axis L.
• the first electronic interface 340 has a first and a second ground contact 345, 346.
• the first ground contact 345 is arranged in the first block 341 and the second ground contact 346 is arranged in a second block 344.
• the ground contacts 345, 346 are the contacts furthest away from each other. This means even with a slight tilting of the female interface device With respect to the male interface device 8 when coupling always leads to one of the ground contacts 345, 346 comes into contact first, while only then the other electrical contacts of the blocks 341, 342, 343, 344 are closed.
• FIGS. 7 and 8 initially show an overview of the medical female interface device 9, while this will then be described in detail with reference to FIGS. 9 to 11.
• FIG. 7 initially a housing 350 of a surgical assistance system 200, namely a mechatronic manipulator 200, as shown in FIG. 1, is shown in perspective.
• a housing 350 of a surgical assistance system 200 namely a mechatronic manipulator 200, as shown in FIG. 1
• all the kinematics have been omitted, but the medical female interface device 9 on one side of the housing 350 can be seen.
• the housing 350 of the surgical assistance system 200 namely the mechatronic manipulator 200 is omitted in Figure 8, but the kinematics 351 including linear drive 352 and endoscope 201 can be seen.
• the mechatronic manipulator 200 has inside a drive 353, which can be supplied via the female interface device 9 with control signals and electrical energy.
• the female interface device 9 for coupling a surgical assistance system to a support structure, in particular the support arm 1, is designed for coupling with the male interface device 8, as was explained above with reference to FIGS. 1 to 6.
• the female interface device 9 has a frame 360, which forms a structure for the interface device 9.
• the interface device 9 further has a central recess 274 for receiving the functional body 62, which is formed in the frame 360.
• the central recess 274 has a central axis Z, which extends in the coupled state of the female interface means 9 to the male interface means 8 coaxial with the axis L de r male interface means 8.
• the central recess 274 has a centering device 362, wherein the centering device 362 has a female first functional surface 363, a second female functional surface 364, and a third female functional surface 365.
• These three functional surfaces 363, 364, 365 are best seen in FIG.
• the functional surfaces 363, 364, 365 are formed corresponding to the first, second and third functional surfaces 31 1, 312, 313 of the male interface device 8.
• the functional surfaces 363, 364, 365 corresponding to the functional surfaces 31 1, 312, 313 at. They therefore also have the same inclinations or similar inclinations as the first, second and third functional surfaces 31 1, 312, 313.
• the female interface device 9 Facing outward, the female interface device 9 has an end face 368 which corresponds to the end face 60 of the male interface device 8.
• a second electronic interface 390 is formed, which corresponds to the first electronic interface 340.
• the second electronic interface 370 also has first and second grounding contacts 375, 376, which correspond to the grounding contacts 345, 346 of the first electronic interface 340.
• the female interface device 9 furthermore has second mechanical coupling means 380.
• the second mechanical coupling means 380 are provided for positive and / or non-positive coupling with the first mechanical coupling means 320 of the male interface device 8.
• the second mechanical coupling means 380 correspond to the first mechanical coupling means 320.
• the second mechanical coupling means 380 in this embodiment comprise a first pin 381 and a second pin 382 which extend into the central recess 274 substantially perpendicular to the central axis Z.
• first and second bolts 381, 382 are shown in the locked position.
• the first and second bolts 381, 382 have on their front side, that is at the free axial ends, a chamfer 383, 384 on. This chamfer 383, 384 corresponds at least in sections to the flank 329, 330 of the undercut 327, 329 of the first mechanical coupling means 320.
• the first and second bolts 381, 382 are together via an actuating device 390 of the locking position ( Figures 7, 9, 10) in a release position ( Figures 1 1 and 12).
• the first and second bolts 381, 382 articulated at a common yoke or fork 392, wherein extending from the yoke 392, an operating knob 394.
• the operating knob 394 is integrally connected to the yoke.
• the yoke 392 and thus also the operating knob 394 are pivotally mounted about an axis 396 in a support portion 397 of the frame 360.
• the first and second bolts 381, 382 are raised, that is removed from the central axis Z and at least partially pulled out of the central recess 274, so that in this released state ( Figures 1 1, 12), the male interface device 8 with the functional body 92 can be inserted into the central recess 274 of the female interface device 9. That is, the first and second bolts 381, 382 are in any case raised so far that they can pass axially over the projections 325, 326. If then the push button 394 is released again, this is brought by a spring bias, which is provided by first and second tension springs 401, 402, in the locked position. That is, the second mechanical coupling means 380 are biased to the locking position.
• first and second bolts 381, 382 When locking the first and second bolts 381, 382 are introduced from above into the recesses 322, 324 with reference to FIG. 5 and reach behind the undercuts 327, 328.
• the flanks 329, 330 and the bevels 383,384 can now be used. If the male and female interfaces 8, 9 are not sufficiently far enough, the first and second bolts 381, 382 first come into contact with their chamfers 383, 384 with an upper portion of the projections 325, 326 with reference to FIG , 382 then slip along the sloping flank 329, 330 into the undercut. In this way it can be ensured that the female interface device 9 can be used on the male interface device 8.
• the geometry of the functional surfaces 31 1, 312, 313, 363, 364, 365 and the positioning of the undercuts 327, 328 and the first and second bolts 381, 382 is selected such that the first, second bolts 381 , 382 always abut the flanks 329, 330, and thus always exert a tensile force on the male and female interface devices 8, 9 in order to achieve a fixed coupling. This coupling is then backlash-free. Due to the static definiteness of the contacts of the respective functional surfaces 31 1, 312, 313 and 363, 364, 365, the contact of the functional body 62 with the central recess 274 is also determined statically.
• the push button 394 has a spine 398, which in the locked position is aligned such that it is covered by the portion 350a of the housing 350. is When the pushbutton 394 is in the pivoted position and thus the second mechanical coupling means 380 are in the released position, the spine 398 is visible.
• the spine 398 preferably has a signal color, for example a red color. This makes it easy for the operator to recognize when the push button 394 is in the released position (FIG. 11) and thus a secure coupling of the female interface device 9 and the male interface device 8 is not guaranteed.
• securing units or devices may be provided.
• an electrical contact is closed or opened and depending on a signal lamp lights.
• an acoustic signal is output in a similar manner.
• at least one of the surfaces 31 1, 312, 313, 363, 364, 365 one or more pressure sensors are provided which provide a corresponding signal when a threshold is exceeded and / or undershot. For example, if it is determined that a threshold value is undershot, a coupling of the male interface device 8 and the female interface device 9 is not sufficient and a corresponding signal is preferably output.
• This collar 410 extends substantially axially from the end face 368 and, in the coupled state, surrounds the lateral surfaces 359 of the base 358 of the male interface device 8. This achieves a further seal.
• the collar 410 may be formed, for example, from a flexible material, such as plastic or rubber.
• FIGS. 13 to 15 now illustrate further exemplary embodiments of surgical assistance systems.
• the same and similar elements of Figures 13 to 15 are designated by the same reference numerals as in the previous embodiments and in this respect, reference is made in its entirety.
• FIG. 13 shows a surgical assistance system 202
• FIG. 14 shows a surgical assistance system 204.
• Both surgical assistance systems 202, 204 are designed here as caps and are thus passive.
• the surgical assist system 202 differs from the surgical assist system 204 by its face 412. From the face 412, the surgical assist system 202 extends first and second positive locking elements 414a, 414b, which may serve to receive a medical instrument.
• a medical instrument can serve in particular as a coupling piece for an endoscope, a clamp, a laparoscope or the like.
• the surgical assistance system 204 has a threaded shaft 300 instead of the first and second form-locking elements 414a, 414b, which likewise serves to enable medical instruments to be screwed onto it.
• the end faces 412 are substantially plate-shaped and are screwed by means of four screws 416a, 416b, 416c, 416d to a base body 420 of the surgical assistance system 202, 204.
• 420 different end faces 412 can be screwed on the same base body.
• standard interfaces for tools, instruments and the like are provided on such end faces 412, or manufacturer-specific interfaces for receiving manufacturer-specific instruments.
• the main body 420 is formed on its outer surface 422 substantially frusto-conical and has in its interior the female interface means 9.
• the main body 420 is preferably formed entirely of a plastic.
• the female interface device 9 according to these two exemplary embodiments has no second electronic interface 340, since the surgical assistance systems 202, 204 are made passive.
• only a single recess 424 is provided in order to be able to receive the blocks 341, 342, 343, 344 of the male interface device 8.
• first and second bolts 381, 382 (only one in FIG. 15) of the mechanical coupling means 380 are also made of plastic and by means of film hinges 425, 426 with corresponding webs 427 , 428 are connected, which in turn are hinged to the base 420.
• film hinges 425, 426 are the first and second bolt 381, 382 biased into the locking position. So it's a solid-state joint with solid state bias provided.
• a lever 430 is provided which is received on a recess 432 of the peripheral surface of the base body 420 substantially flush.
• the lever 430 is manually operable via a finger recess 434.
• the pin 381 is raised 8 via a rod 435 (the same applies to the second pin 382) and the surgical assistance system 202, 204 can be plugged onto the male interface device 8.
• a latching connection is preferably provided between the lever 430 and an underlying portion of the base body 420, so that the lever 430 can engage the base body 420 to fix the coupling between the female interface device 9 of the surgical assistance system 202, 204 and the male interface device 8.
• the surgical assistance systems 202, 204 may be manufactured entirely as single-use products. Instead of the end faces 412 directly coupling mechanisms for coupling instruments can be screwed to the base 420, or integrally connected thereto.
• the body 420 is preferably formed of an insulating plastic, so that in the event of passive use of an instrument, the surgical assistance system 202, 204 forms electrical insulation with respect to the male interface means 8 and approximately the support arm 1.
• a sterile sheath can be welded to the axial end of the collar 410, or a sterile foil can be welded in, which can be pulled over a part of the holding arm 1.
• the surgical assistance system 202, 204 is provided in its entirety packaged with a sterile sheath. In this way, an operating surgeon can unpack the surgical assistance system 202, 204 immediately prior to start-up and this remains sterile for as long as possible.
• Figures 16a to 18 show a second embodiment of the male interface device 8 and the corresponding female interface device 9.
• the same and similar elements are denoted by the same reference numerals as in the previous embodiments, so in the following fully to the above Description is made. In the following, the differences to the previous embodiments will be described in the first place.
• the first mechanical coupling means 320 have a third undercut 500.
• the third undercut cooperates with a third pin 502 (see Fig. 18) which can engage in it.
• the third undercut 500 is disposed substantially between the first undercut 327 and the second undercut 328.
• the third undercut 500 has a third flank 504, which is oriented obliquely relative to the central axis L, but substantially perpendicular to the nose surface 303, of the nose 302.
• the third undercut 500 is laterally open in the figures, but may also be closed laterally.
• the third undercut 500 is open at the bottom with reference to FIG. 16c, while the first and second undercuts 327, 328 are open at the top.
• the first and second bolts 381, 382 engage opposite to the third bolt 502 in the corresponding undercuts.
• FIG. 18 now shows the male interface device 8 according to FIGS. 16a to 16d in a female interface device 9 according to the second exemplary embodiment that is embodied in a surgical assistance system 205.
• the surgical assistance system 205 is passive and has no electronics. It serves, for example, as an adapter for receiving other medical instruments.
• the female interface device 9 has the third pin 502, which is arranged in this case pivotable about a pin pivot axis B.
• the second mechanical coupling means 380 of the female interface device 9 according to this embodiment have only the third bolt 502, and no first and / or second bolts 381, 382.
• the first and second undercuts 327, 328 are in this case inoperative.
• the female interface device 9 accordingly also has a second actuating device 506, which is provided to pass the third pin 502 in a release position.
• the second actuator 506 comprises in this embodiment, a rocker 508, the two via two film hinges 510, 51 1 with the body 512th the surgical assistance system 205 is connected.
• the rocker 508 has a sensing area 514 which can be pressed, for example, with the thumb. When it is pressed in the direction of the arrow (see Fig. 18), the rocker 508 rotates about the bolt pivot axis B and the third bolt 502 moves in the direction of the corresponding arrow in Fig. 18; upon further rotation, it emerges from the third undercut 500 and releases it.
• the film hinges 510, 51 1 act like springs, so that the third pin 502 is biased spring-loaded in the locking position.
• the third bolt 502 as has already been described with reference to the first and second bolts 381, 382, bevelled, and has an inclined edge 516.
• the female interface device 9 can be easily plugged onto the male interface device 8, wherein the third pin 502 is deflected by the inclined edge 516 in contact with the nose 302, and automatically engages on further pushing the female interface device 9 in the third undercut 500.
• the third bolt 502 can be actuated by the (first) actuating device 380.
• rotation of the third pin 502 is not mandatory, and the invention is not limited thereto. Embodiments are also included in which the third pin 502 is slidable.

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• 2017
  • 2017-05-23 DE DE102017111302.9A patent/DE102017111302A1/de not_active Withdrawn
• 2018
  • 2018-05-14 US US16/481,224 patent/US11229426B2/en active Active
  • 2018-05-14 KR KR1020197026407A patent/KR102486065B1/ko active IP Right Grant
  • 2018-05-14 WO PCT/EP2018/062327 patent/WO2018215223A1/de unknown
  • 2018-05-14 EP EP18725165.7A patent/EP3565449B1/de active Active
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